Gain-Scheduled PID Controller Design
Journal article, 2013

Gain scheduling (GS) is one of the most popular approaches to nonlinear control design and it is known that GS controllers have a better performance than robust ones. Following the terminology of control engineering, linear parameter-varying (LPV) systems are time-varying plants whose state space matrices are fixed functions of some vector of varying parameters. Our approach is based on considering that the LPV system, scheduling parameters and their derivatives with respect to time lie in a priori given hyper rectangles. To guarantee the performance we use the notion of guaranteed costs. The class of control structure includes centralized, decentralized fixed order output feedbacks like PID controller. Numerical examples illustrate the effectiveness of the proposed approach.

Controller design

Decentralized control

Gain scheduled control

MIMO LPV systems

Structured controller


Vojtech Veselý

Slovak University of Technology Bratislava

Adrian Ilka

Slovak University of Technology Bratislava

Journal of Process Control

0959-1524 (ISSN)

Vol. 23 8 1141-1148

Subject Categories

Control Engineering



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